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Datasets:
SIGRoboticsUIUC
/
matcha-making

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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Dask
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float32
0
41.3
frame_index
int64
0
1.24k
episode_index
int64
0
81
index
int64
0
54.1k
task_index
int64
0
3
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[ 13.931888580322266, -95.12397003173828, 99.63948059082031, 67.46849822998047, 10.472708702087402, 1.0594947338104248, -8.924652099609375, -0.24449877440929413, 76.26819610595703, -39.21324920654297, -54.61538314819336, 42.61818313598633 ]
3.066667
92
0
92
0
[ 14.180929183959961, -94.90721130371094, 99.36073303222656, 68.05499267578125, 10.347296714782715, 0.17809438705444336, -8.683008193969727, 0.04147656634449959, 74.12399291992188, -39.76932907104492, -54.42443084716797, 41.48372268676758 ]
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3.1
93
0
93
0
[ 14.180929183959961, -94.90721130371094, 99.36073303222656, 68.05499267578125, 10.347296714782715, 0.17809438705444336, -8.683008193969727, 0.04147656634449959, 74.12399291992188, -39.76932907104492, -54.52884292602539, 42.089324951171875 ]
[ 13.931888580322266, -95.12397003173828, 99.63948059082031, 67.46849822998047, 10.472708702087402, 1.0594947338104248, -8.77834701538086, -0.16299918293952942, 76.26819610595703, -39.21324920654297, -54.512821197509766, 41.599998474121094 ]
3.133333
94
0
94
0
[ 14.180929183959961, -94.90721130371094, 99.36073303222656, 68.05499267578125, 10.347296714782715, 0.17809438705444336, -8.599916458129883, 0.12442969530820847, 74.12399291992188, -39.76932907104492, -54.581050872802734, 42.61922836303711 ]
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3.166667
95
0
95
0
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3.2
96
0
96
0
[ 14.180929183959961, -94.90721130371094, 99.36073303222656, 68.05499267578125, 10.347296714782715, 0.17809438705444336, -8.599916458129883, 0.12442969530820847, 74.03414154052734, -39.42759323120117, -54.68545913696289, 42.61922836303711 ]
[ 13.931888580322266, -95.12397003173828, 99.63948059082031, 67.46849822998047, 10.472708702087402, 1.0594947338104248, -8.99780559539795, 0.24449877440929413, 76.26819610595703, -39.21324920654297, -54.46154022216797, 41.745452880859375 ]
3.233333
97
0
97
0
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[ 13.931888580322266, -95.12397003173828, 99.63948059082031, 67.46849822998047, 10.472708702087402, 1.0594947338104248, -8.99780559539795, 0.24449877440929413, 76.26819610595703, -39.21324920654297, -54.46154022216797, 41.9636344909668 ]
3.266667
98
0
98
0
[ 14.180929183959961, -94.90721130371094, 99.36073303222656, 68.05499267578125, 10.347296714782715, 0.17809438705444336, -8.599916458129883, 0.3732890784740448, 73.22551727294922, -39.00042724609375, -54.68545913696289, 42.69492721557617 ]
[ 13.931888580322266, -95.12397003173828, 99.63948059082031, 67.46849822998047, 10.472708702087402, 1.0594947338104248, -8.851499557495117, 0.24449877440929413, 76.26819610595703, -39.21324920654297, -54.512821197509766, 42.109092712402344 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_so101_follower",
    "total_episodes": 82,
    "total_frames": 54058,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:82"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
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            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
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        },
        "observation.images.top_depth": {
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            "shape": [
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            "names": [
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left": {
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            "names": [
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            "info": {
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        "observation.images.right": {
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            "info": {
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        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
2.91 MB
Size of the auto-converted Parquet files:
2.91 MB
Number of rows:
54,058

Models trained or fine-tuned on SIGRoboticsUIUC/matcha-making